text: /*
    twi.h - TWI/I2C library for Wiring & Arduino
    Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
  
    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.
  
    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.
  
    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  */
  
  /**
   * \file twi.h
   *
   * \author Copyright (c) 2006 Nicholas Zambetti
   * 
   * \brief This module provides an interface for the TWI aka I2C protocol, which is
   *        used by the low_level_controller to communicate with the IMU.
   * 
   * \ingroup low_level_controller
   */
  
  #ifndef twi_h
  #define twi_h
  
    #include <inttypes.h>
  
    //#define ATMEGA8
  
    #ifndef TWI_FREQ
    #define TWI_FREQ 100000L
    #endif
  
    #ifndef TWI_BUFFER_LENGTH
    #define TWI_BUFFER_LENGTH 32
    #endif
  
    #define TWI_READY 0
    #define TWI_MRX   1
    #define TWI_MTX   2
    #define TWI_SRX   3
    #define TWI_STX   4
    
    void twi_init(void);
    //void twi_disable(void);
    void twi_setAddress(uint8_t);
    void twi_setFrequency(uint32_t);
    uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t);
    uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t);
    uint8_t twi_transmit(const uint8_t*, uint8_t);
    void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) );
    void twi_attachSlaveTxEvent( void (*)(void) );
    void twi_reply(uint8_t);
    void twi_stop(void);
    void twi_releaseBus(void);
  
  #endif
  
  